/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2024 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "can.h"
#include "tim.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <stdio.h>
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
extern uint8_t can_receive_data[8];//接收的数据
Motor_Message Motor_3508;//电机数据结构体

//速度控制相关变量
struct Pid Pid_speed;//pid结构体,用于速度计算
float pid_k[3] = {PID_KP, PID_KI, PID_KD};//pid系数数组

float kp = 2, ki = 0.001, kd = 800;//用于调试的系数

float set_speed = 2000;//目标速度
int pid_out = 0;//实际发送值

//角度控制量
struct Pid Pid_pos;//用于位置pid计算
float pid_k_[3] = {PID_KP, PID_KI, PID_KD};//pid系数数组
Angle Angle1;//用于计算累计角度
float angle_acc;//累计角度
float death_angle = 0.5;//死区
float set_angle = 360;//目标角度
float angle;

//串级pid所需变量
float speed_need = 0;
int current_need = 0;

//
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */


/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_CAN1_Init();
  MX_TIM4_Init();
  /* USER CODE BEGIN 2 */
  
  can_filter_init();//一定要在`MX_CAN1_Init()`函数之后！！！
  pid_init(&Pid_speed, pid_k, PID_MAX_OUT, PID_MAX_IOUT, 1);//初始化pid1
  
  pid_init(&Pid_pos, pid_k_, PID_MAX_OUT, PID_MAX_IOUT, 1);
  angle_init(&Angle1, death_angle);

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  
  while (1)
  {
    //速度pid
    // deal_motor_message(can_receive_data, &Motor_3508);//处理反馈信息

    // pid_k_set(&Pid_speed, kp, ki, kd);
    // pid_out = (int)pid_calculate(&Pid_speed, set_speed, (float)Motor_3508.speed);//输出
    // can_transmit(pid_out, pid_out, pid_out, pid_out);

    // HAL_Delay(1);//疑问:如果改变pid的计算和传输间隔会怎样???


    //位置pid
    deal_motor_message(can_receive_data, &Motor_3508);

    angle_acc = angle_cal(&Angle1, Motor_3508.angle);

    pid_k_set(&Pid_pos, kp, ki, kd);
    pid_out = (int)pid_calculate(&Pid_pos, 19 * set_angle, angle_acc);
    //死区控制???
    if (-Angle1.death_angle < (set_angle - angle_acc / 19.0) && Angle1.death_angle > (set_angle - angle_acc / 19.0)){
      pid_out = 0;
    }
    angle = angle_acc / 19.0;
    can_transmit(pid_out, pid_out, pid_out, pid_out);

    HAL_Delay(1);//疑问:如果改变pid的计算和传输间隔会怎样???


    //串级位置pid
    // deal_motor_message(can_receive_data, &Motor_3508);

    // pid_k_set(&Pid_speed, kp, ki, kd);
    // pid_k_set(&Pid_pos, kp, ki, kd);
    
    // angle_acc = angle_cal(&Angle1, Motor_3508.angle);
    // speed_need = pid_calculate(&Pid_pos, 19 * set_angle, angle_acc);

    // //死区控制???
    // if (-Angle1.death_angle < (19 * set_angle - angle_acc) && Angle1.death_angle > (19 * set_angle - angle_acc)){
    //   speed_need = 0;
    // }

    // current_need = (int)pid_calculate(&Pid_speed, speed_need, Motor_3508.speed);

    // can_transmit(current_need, current_need, current_need, current_need);

    // HAL_Delay(1);
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 6;
  RCC_OscInitStruct.PLL.PLLN = 168;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
